A "Retraction" Method for Planning the Motion of a Disc

@article{Dnlaing1985AM,
  title={A "Retraction" Method for Planning the Motion of a Disc},
  author={Colm {\'O}'D{\'u}nlaing and Chee-Keng Yap},
  journal={J. Algorithms},
  year={1985},
  volume={6},
  pages={104-111}
}
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